In [2]:
from plotly.offline import iplot
import plotly.graph_objs as go
import radarsimpy.processing as proc
import scipy.constants as const
from scipy import signal
import radarsimpy.simulator as sim
from radarsimpy.simulator import simc
from radarsimpy import Radar, Transmitter, Receiver
import numpy as np
import matplotlib.pyplot as plt
import seaborn as sns

%matplotlib inline
%config InlineBackend.figure_format = 'svg'
sns.set_style('dark')
In [13]:
def radar_sfw(targets):
    wavelength = 3e8 / 76.725e9

    angle = np.arange(-90, 91, 1)
    pattern = 20 * np.log10(np.cos(angle / 180 * np.pi) + 0.01) + 6

    tx_antenna_1 = dict(
        location=(0, 0, 0),
        azimuth_angle=angle,
        azimuth_pattern=pattern,
        elevation_angle=angle,
        elevation_pattern=pattern,
    )

    tx_antenna_2 = dict(
        location=(0, 0, 0),
        azimuth_angle=angle,
        azimuth_pattern=pattern,
        elevation_angle=angle,
        elevation_pattern=pattern,
        delay=2.700027e-05,
    )

    f0 = 76870000000
    delta_f = -1312500
    tn = np.arange(0, 513)*f0*(3.245487e-05+4.545487e-05) / \
        (f0+np.arange(0, 513)*delta_f)
#     prp = tn[1:]-tn[0:-1]
    prp = np.array([7.79110702755267e-05, 7.79137309174372e-05, 7.79163916956403e-05, 7.79190526101453e-05, 7.79217136609615e-05, 7.79243748480984e-05, 7.79270361715652e-05, 7.7929697631371e-05, 7.79323592275254e-05, 7.79350209600375e-05, 7.79376828289169e-05, 7.79403448341725e-05, 7.79430069758143e-05, 7.79456692538507e-05, 7.79483316682916e-05, 7.79509942191463e-05, 7.7953656906424e-05, 7.7956319730134e-05, 7.79589826902856e-05, 7.79616457868882e-05, 7.79643090199514e-05, 7.79669723894841e-05, 7.79696358954953e-05, 7.79722995379953e-05, 7.7974963316993e-05, 7.79776272324974e-05, 7.79802912845183e-05, 7.79829554730638e-05, 7.79856197981451e-05, 7.79882842597709e-05, 7.79909488579501e-05, 7.79936135926916e-05, 7.79962784640056e-05, 7.79989434719019e-05, 7.80016086163885e-05, 7.8004273897475e-05, 7.80069393151715e-05, 7.80096048694869e-05, 7.8012270560431e-05, 7.80149363880118e-05, 7.80176023522398e-05, 7.8020268453125e-05, 7.80229346906748e-05, 7.8025601064899e-05, 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7.91195471042463e-05, 7.91222698898544e-05, 7.91249928160237e-05, 7.91277158827541e-05, 7.91304390900527e-05, 7.91331624379402e-05, 7.91358859264166e-05, 7.91386095554958e-05, 7.91413333251847e-05, 7.91440572355043e-05, 7.91467812864405e-05, 7.9149505478035e-05, 7.91522298102601e-05, 7.91549542831504e-05, 7.91576788967199e-05, 7.91604036509685e-05, 7.91631285458894e-05, 7.91658535815309e-05, 7.91685787578586e-05, 7.91713040749278e-05, 7.9174029532704e-05, 7.91767551312286e-05, 7.91794808705018e-05, 7.91822067505304e-05, 7.91849327713215e-05, 7.91876589328958e-05, 7.91903852352463e-05, 7.91931116784009e-05, 7.91958382623525e-05, 7.91985649871291e-05, 7.92012918527235e-05, 7.92040188591567e-05, 7.92067460064286e-05, 7.920947329456e-05, 7.92122007235579e-05, 7.92149282934154e-05, 7.92176560041671e-05, 7.92203838558062e-05, 7.92231118483533e-05, 7.92258399818085e-05, 7.92285682561858e-05, 7.92312966715059e-05, 7.9234025227741e-05, 7.92367539249467e-05, 7.9239482763109e-05, 7.9242211742242e-05, 7.92449408623594e-05, 7.92476701234543e-05, 7.92503995255545e-05, 7.92531290686668e-05, 7.92558587527983e-05, 7.9258588577949e-05, 7.92613185441535e-05, 7.9264048651391e-05, 7.92667788996962e-05, 7.92695092890691e-05, 7.92722398195098e-05, 7.92749704910459e-05, 7.92777013036775e-05, 7.92804322574045e-05, 7.92831633522617e-05, 7.92858945882421e-05, 7.92886259653527e-05])

    prp = (3.245487e-05+4.545487e-05)

    tx = Transmitter(f=[f0+192e6/2, f0-192e6/2],
                     t=2.327296e-05,
                     f_offset=np.linspace(0, -670687500, 512, endpoint=True),
                     tx_power=10,
                     prp=prp,
                     pulses=512,
                     channels=[tx_antenna_1, tx_antenna_2])

    rx_antenna_1 = dict(
        location=(0, 0, 0),
        azimuth_angle=angle,
        azimuth_pattern=pattern,
        elevation_angle=angle,
        elevation_pattern=pattern,
    )

    rx = Receiver(fs=21999780.0022,
                  noise_figure=12,
                  rf_gain=20,
                  baseband_gain=30,
                  load_resistor=500,
                  channels=[rx_antenna_1])

    radar = Radar(transmitter=tx, receiver=rx)

    print('Maximum range: ', radar.max_range, ' m')
    print('Maximum unambiguous speed: ', radar.unambiguous_speed, ' m/s')
    print('Range_resolution: ', radar.range_resolution, ' m')
    vua = radar.unambiguous_speed

    data = simc(radar, targets, noise=False)

    time_matrix = data["timestamp"]
    beat_matrix = np.real(data["baseband"])

    range_window = signal.chebwin(radar.samples_per_pulse, at=45)
    range_profile = proc.cal_range_profile(
        radar, beat_matrix, range_window, n=None)

    doppler_window = signal.chebwin(tx.pulses, at=45)
    range_doppler = proc.cal_range_doppler(
        radar, range_profile, doppler_window, fft_shift=False, n=None)

    return {
        'radar': radar,
        'time': time_matrix,
        'baseband': beat_matrix,
        'rng': range_profile,
        'rdop': range_doppler
    }
In [14]:
# nfft_rng2 = 512
# slowRngFreq = 123.32367659538
# rng2Max = 114.206650666667
# rng2BinFreq = 27.5085626012843
# slowDplrFreq = 512.821439957639
# rngBinRes = 0.780709526041667

nfft_rng2 = 512
slowRngFreq = 112.387199584436
rng2Max = 114.206650666667
rng2BinFreq = 25.0690735202043
slowDplrFreq = 512.821439957639
rngBinRes = 0.780709526041667
In [15]:
target_1 = dict(location=(100, 0, 0),
                speed=(20, 0, 0), rcs=100, phase=0)

targets = [target_1]
data = radar_sfw(targets)

rdop_idx = np.unravel_index(
    np.argmax(np.abs(data['rdop'][0, :, :])), np.shape(data['rdop'][0, :, :]))

print(rdop_idx)

rng_est = 100
velFracIdx = rdop_idx[0]

k = np.floor(rng_est/rng2Max)
velFracIdx = velFracIdx + k*nfft_rng2
FbSlow = velFracIdx * rng2BinFreq


Fdoppler = FbSlow - rng_est*slowRngFreq
tgtVelEst = -Fdoppler / slowDplrFreq
tgtVelEst

Maximum range:  399.7232773333337  m
Maximum unambiguous speed:  25.028917752356143  m/s
Range_resolution:  0.7807095260416667  m
(42, 128)
Out[15]:
19.86231088824291
In [16]:
f0 = 76870000000
fc = np.linspace(f0, f0-670687500, 512, endpoint=True)

phs = 2*np.pi*(20/25.028917752356143) * \
    np.arange(0, 512)/np.pi*180/76500000000*fc
phs = np.expand_dims(phs, axis=0)
phs = np.tile(phs, (2, 1))
phs = np.expand_dims(phs, axis=2)
phs = np.repeat(phs, 1024, axis=2)
target_1 = dict(location=(100, 0, 0),
                speed=(0, 0, 0), rcs=20, phase=phs)

targets = [target_1]
data_novar_phase = radar_sfw(targets)

rdop_idx = np.unravel_index(np.argmax(np.abs(
    data_novar_phase['rdop'][0, :, :])), np.shape(data_novar_phase['rdop'][0, :, :]))

# rng_est = rngBinRes*rdop_idx[1]
rng_est = 100
velFracIdx = rdop_idx[0]

k = np.floor(rng_est/rng2Max)
velFracIdx = velFracIdx + k*nfft_rng2
FbSlow = velFracIdx * rng2BinFreq


Fdoppler = FbSlow - rng_est*slowRngFreq
tgtVelEst = -Fdoppler / slowDplrFreq
tgtVelEst

Maximum range:  399.7232773333337  m
Maximum unambiguous speed:  25.028917752356143  m/s
Range_resolution:  0.7807095260416667  m
Out[16]:
19.91119549322798
In [48]:
temp = np.abs(data['rdop'][0, :, :])
temp = 20 * np.log10(temp)

radar = data['radar']
# range_axis = np.linspace(
#     0, radar.max_range, radar.samples_per_pulse, endpoint=False)

range_axis = np.arange(
    0, radar.samples_per_pulse)

doppler_axis = np.arange(
    0, radar.transmitter.pulses)

data = [go.Surface(x=range_axis, y=doppler_axis, z=temp, colorscale='Rainbow')]

layout = go.Layout(
    title='Range Doppler',
    height=800,
    scene=dict(
        xaxis=dict(title='Range index'),
        yaxis=dict(title='Doppler index'),
        zaxis=dict(title='Amplitude (dB)'),
        aspectmode='cube',
    ),
    margin=dict(l=0, r=0, b=60, t=100),
    legend=dict(orientation='h'),
)

fig = go.Figure(data=data, layout=layout)
iplot(fig)
In [93]:
temp = np.abs(data_novar_phase['rdop'][0, :, :])
temp = 20 * np.log10(temp)

radar = data_novar_phase['radar']
# range_axis = np.linspace(
#     0, radar.max_range, radar.samples_per_pulse, endpoint=False)

range_axis = np.arange(
    0, radar.samples_per_pulse)

doppler_axis = np.linspace(
    -radar.unambiguous_speed, 0, radar.transmitter.pulses, endpoint=False)

data = [go.Surface(x=range_axis, y=doppler_axis, z=temp, colorscale='Rainbow')]

layout = go.Layout(
    title='Range Doppler',
    height=800,
    scene=dict(
        xaxis=dict(title='Range (m)'),
        yaxis=dict(title='Velocity (m/s)'),
        zaxis=dict(title='Amplitude (dB)'),
        aspectmode='cube',
    ),
    margin=dict(l=0, r=0, b=60, t=100),
    legend=dict(orientation='h'),
)

fig = go.Figure(data=data, layout=layout)
iplot(fig)
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